• Journal of KSNVE
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• v.7 no.3
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• pp.387-392
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• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

• Economic and Environmental Geology
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• v.33 no.2
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• pp.111-116
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• 2000

Indentifying anomaly correlations between data sets is the basis for rationalizig geopotential interpretation and theory. A procedure is presented that constitutes an effective process for identifying correlative features between the two or more geopotential data sets. Anomaly features that show direct, inverse, or no correlations between the data may be separated by applying filters in the frequency domains of the data sets. The correlation filter passes or rejects wavenumbers between co-registered data sets based on the correlation coefficient between common wavenumbers as given by the cosine of their phase difference. This study includes an example of Magsat magnetic anomaly profile that illustrates the usefulness of the procedure for extracting correlative features between the data sets.

• Proceedings of the KIEE Conference
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• 1998.11c
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• pp.1033-1036
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• 1998

In this research project, two aspects of small signal stability are studied: improvement in Hessenberg method to compute the dominant electromechanical oscillation modes and siting FACTS devices to damp the low frequency oscillation. Fourier transform of transient stability simulation results identifies the frequencies of the dominant oscillation modes accurately. Inverse transformation of the state matrix with complex shift equal to the angular speed determined by Fourier transform enhances the ability of Hessenberg method to compute the dominant modes with good selectivity and small size of Hessenberg matrix. Any specified convergence tolerance is achieved using the iterative scheme of Hessenberg method. Siting FACTS devices such as SVC, STACOM, TCSC, TCPR and UPFC has been studied using the eigen-sensitivity theory of augmented matrix. Application results of the improved Hessenberg method and eigen-sensitivity to New England 10-machine 39-bus and KEPCO systems are presented.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.679-684
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• 1993

This article presents an approach to estimate the general 3D motion of a polyhedral object using multiple, sensory data some of which may not provide sufficient information for the estimation of object motion. Motion can be estimated continuously from each sensor through the analysis of the instantaneous state of an object. We have introduced a method based on Moore-Penrose pseudo-inverse theory to estimate the instantaneous state of an object. A linear feedback estimation algorithm is discussed to estimate the object 3D motion. Then, the motion estimated from each sensor is fused to provide more accurate and reliable information about the motion of an unknown object. The techniques of multisensor data fusion can be categorized into three methods: averaging, decision, and guiding. We present a fusion algorithm which combines averaging and decision.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.225-228
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• 1996

This paper concerns a SCARA type robot with the second arm flexible. Its equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are first determined based on the inverse dynamics of the latter. Next, in order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified with a prescribed degree of stability. The numerical simulations results show the satisfactory control performance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.4
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• pp.530-536
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• 1993

In adaptive antenna, recently Gooch suggested a new adaptive system using equation error method, but the system demands inverse model about the pole part and thus does not guarantee stability. In this paper, algorithm is proposed that has a basis on Popov's extra-stability theory. And system is developed of output error method. In addition, the result obtained by applying proposed algorithm to system of output error method is compared with that of Gooch model.

• The Journal of the Acoustical Society of Korea
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• v.16 no.3E
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• pp.24-31
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• 1997

A mobile propagation characteristics for wideband DS-SS (Direct Sequence-Spectrum) signal is presented. Existing narrowband model is extended for the wideband pulse with an arbitrary shape. The received DS-SS signal in the frequency domain is the transfer function of the propagation channel weighted by the inverse Fourier transform. In this proposed method, received signal spectral density, instantaneous waveform, and Doppler spectrum of DS-SS signal via either Rayleigh of Rician channel can be obtained easily. Simulation results match well with both simulated theoretical fading statistics and classical theory. As expected, the extraction of chip timing in Rician fading shown to be more tractable than Rayleigh fading.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.736-741
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• 1992

The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H$_{\infty}$ MIMO controller is not satisfied in steady-state characteristics. But the proposed H$_{\infty}$ + PI control scheme shows acceptable performance.e.e.

• Journal of the Chungcheong Mathematical Society
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• v.29 no.2
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• pp.267-281
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• 2016

In this paper, we consider multi-degree reduction of $B{\acute{e}}zier$ curves with continuity of any (r, s) order with respect to $L_2$ norm. With help of matrix theory about generalized inverses we can use Lagrange multipliers to obtain the degree reduction matrix in a very simple form as well as the degree reduced control points. Also error analysis comparing with the least squares degree reduction without constraints is given. The advantage of our method is that the relationship between the optimal multi-degree reductions with and without constraints of continuity can be derived explicitly.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1933-1938
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• 2000

The partial differential equations for a coil spring derived from Timoshenko beam theory and Frenet formulae. Dynamic stiffness matrix of a coil spring composed of a circular wire is assembled by using dispersion relationship, waves and natural frequencies. Natural frequencies are obtained from maxima in the determinant of inverse of a dynamic stiffness matrix with appropriate boundary conditions. The results of the dynamic stiffness method are compared with those of transfer matrix method, finite element method and test.